class HeightfieldVehicle(ShowBase): def __init__(self, heightfield_fn="heightfield.png"): # Store the heightfield's filename. self.heightfield_fn = heightfield_fn """ Load some configuration variables, it's important for this to happen before ShowBase is initialized """ load_prc_file_data("", """ sync-video #t textures-power-2 none ###gl-coordinate-system default notify-level-gobj warning notify-level-grutil debug notify-level-shader_terrain debug notify-level-bullet debug ### model paths model-path /usr/share/panda3d model-path /home/juzzuj/code/prereq/bullet-samples/bullet-samples """) ShowBase.__init__(self) base.set_background_color(0.1, 0.1, 0.8, 1) base.set_frame_rate_meter(True) # Increase camera Field Of View and set near and far planes base.camLens.set_fov(90) base.camLens.set_near_far(0.1, 50000) # Lights alight = AmbientLight('ambientLight') alight.set_color(LVector4(0.5, 0.5, 0.5, 1)) alightNP = render.attach_new_node(alight) dlight = DirectionalLight('directionalLight') dlight.set_direction(LVector3(1, 1, -1)) dlight.set_color(LVector4(0.7, 0.7, 0.7, 1)) dlightNP = render.attach_new_node(dlight) render.clear_light() render.set_light(alightNP) render.set_light(dlightNP) # Basic game controls self.accept('escape', self.do_exit) self.accept('f1', base.toggle_wireframe) self.accept('f2', base.toggle_texture) self.accept('f3', self.toggle_debug) self.accept('f5', self.do_screenshot) self.accept('r', self.do_reset) # Vehicle controls inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('turnLeft', 'a') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('turnRight', 'd') inputState.watchWithModifiers('forward', 'arrow_up') inputState.watchWithModifiers('turnLeft', 'arrow_left') inputState.watchWithModifiers('reverse', 'arrow_down') inputState.watchWithModifiers('turnRight', 'arrow_right') self.accept('space', self.reset_vehicle) # Controls to do with the terrain #self.accept('t', self.rise_in_front) self.accept('t', self.deform_terrain, ["raise"]) self.accept('g', self.deform_terrain, ["depress"]) self.accept('b', self.drop_boxes) # Some debugging and miscellaneous controls self.accept('e', self.query_elevation) self.accept('c', self.convert_coordinates) self.accept('p', self.save) self.accept('h', self.hide_terrain) # Task taskMgr.add(self.update, 'updateWorld') self.setup() """ Macro-like function used to reduce the amount to code needed to create the on screen instructions """ def genLabelText(self, i, text, parent="a2dTopLeft"): return OnscreenText(text=text, parent=getattr(base, parent), scale=.05, pos=(0.06, -.065 * i), fg=(1, 1, 1, 1), align=TextNode.ALeft) # _____HANDLER_____ def cleanup(self): self.world = None self.worldNP.remove_node() self.terrain.remove_node() self.skybox.remove_node() del self.terrain_node def do_exit(self): self.cleanup() sys.exit(1) def do_reset(self): self.cleanup() self.setup() def toggle_debug(self): if self.debugNP.is_hidden(): self.debugNP.show() else: self.debugNP.hide() def do_screenshot(self): base.screenshot('HeightfieldVehicle') # ____TASK___ def update(self, task): # Get the time passed since the last frame dt = globalClock.get_dt() # Pass dt as parameter (we need it for sensible steering calculations) self.process_input(dt) """ Basically, we want to put our camera where the camera floater is. We need the floater's world (=render-relative) position (it's parented to the vehicle) """ floater_pos = render.get_relative_point(self.camera_floater, LVector3(0)) """ If the camera floater is under the terrain surface, adjust it, so that it stays above the terrain. """ elevation_at_floater_pos = self.query_elevation(floater_pos) if elevation_at_floater_pos.z >= floater_pos.z: floater_pos.z = elevation_at_floater_pos.z + 1. # Now we set our camera's position and make it look at the vehicle. base.cam.set_pos(floater_pos) base.cam.look_at(self.vehicleNP) # Let the Bullet library do physics calculations. self.world.do_physics(dt, 10, 0.008) return task.cont def process_input(self, dt): # Relax steering towards straight self.steering *= 1 - self.steering_relax_factor * dt engine_force = 0.0 brake_force = 0.0 if inputState.isSet('forward'): engine_force = 1000.0 brake_force = 0.0 if inputState.isSet('reverse'): engine_force = 0.0 brake_force = 100.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steering_increment self.steering = min(self.steering, self.steering_clamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steering_increment self.steering = max(self.steering, -self.steering_clamp) # Lower steering intensity for high speeds self.steering *= 1. - (self.vehicle.get_current_speed_km_hour() * self.steering_speed_reduction_factor) # Apply steering to front wheels #self.vehicle.get_wheels()[0].set_steering(self.steering) #self.vehicle.get_wheels()[1].set_steering(self.steering) #self.vehicle.wheels[0].steering = self.steering #self.vehicle.wheels[1].steering = self.steering self.vehicle.set_steering_value(self.steering, 0) self.vehicle.set_steering_value(self.steering, 1) # Apply engine and brake to rear wheels #self.vehicle.wheels[2].engine_force = engine_force #self.vehicle.wheels[3].engine_force = engine_force #self.vehicle.wheels[2].brake = brake_force #self.vehicle.wheels[3].brake = brake_force self.vehicle.apply_engine_force(engine_force, 2) self.vehicle.apply_engine_force(engine_force, 3) self.vehicle.set_brake(brake_force, 2) self.vehicle.set_brake(brake_force, 3) def setup(self): # Bullet physics world self.worldNP = render.attach_new_node('World') self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) self.world = BulletWorld() self.world.set_gravity(LVector3(0, 0, -9.81)) self.world.set_debug_node(self.debugNP.node()) # Vehicle # Steering info self.steering = 0.0 # degrees self.steering_clamp = 45.0 # degrees self.steering_increment = 120.0 # degrees per second # How fast steering relaxes to straight ahead self.steering_relax_factor = 2.0 # How much steering intensity decreases with higher speeds self.steering_speed_reduction_factor = 0.003 # Chassis collision box (note: Bullet uses half-measures) shape = BulletBoxShape(LVector3(0.6, 1.4, 0.5)) ts = TransformState.make_pos(LPoint3(0, 0, 0.5)) self.vehicleNP = self.worldNP.attach_new_node( BulletRigidBodyNode('Vehicle')) self.vehicleNP.node().add_shape(shape, ts) # Set initial position self.vehicleNP.set_pos(0, 70, -10) self.vehicleNP.node().set_mass(800.0) self.vehicleNP.node().set_deactivation_enabled(False) self.world.attach(self.vehicleNP.node()) # Camera floater self.attach_camera_floater() # BulletVehicle self.vehicle = BulletVehicle(self.world, self.vehicleNP.node()) self.world.attach(self.vehicle) # Vehicle model self.yugoNP = loader.load_model('models/yugo/yugo.egg') self.yugoNP.reparent_to(self.vehicleNP) # Right front wheel np = loader.load_model('models/yugo/yugotireR.egg') np.reparent_to(self.worldNP) self.add_wheel(LPoint3( 0.70, 1.05, 0.3), True, np) # Left front wheel np = loader.load_model('models/yugo/yugotireL.egg') np.reparent_to(self.worldNP) self.add_wheel(LPoint3(-0.70, 1.05, 0.3), True, np) # Right rear wheel np = loader.load_model('models/yugo/yugotireR.egg') np.reparent_to(self.worldNP) self.add_wheel(LPoint3( 0.70, -1.05, 0.3), False, np) # Left rear wheel np = loader.load_model('models/yugo/yugotireL.egg') np.reparent_to(self.worldNP) self.add_wheel(LPoint3(-0.70, -1.05, 0.3), False, np) # Load a skybox self.skybox = self.loader.load_model( "samples/shader-terrain/models/skybox.bam") self.skybox.reparent_to(self.render) self.skybox.set_scale(20000) skybox_texture = self.loader.load_texture( "samples/shader-terrain/textures/skybox.jpg") skybox_texture.set_minfilter(SamplerState.FT_linear) skybox_texture.set_magfilter(SamplerState.FT_linear) skybox_texture.set_wrap_u(SamplerState.WM_repeat) skybox_texture.set_wrap_v(SamplerState.WM_mirror) skybox_texture.set_anisotropic_degree(16) self.skybox.set_texture(skybox_texture) skybox_shader = Shader.load(Shader.SL_GLSL, "samples/shader-terrain/skybox.vert.glsl", "samples/shader-terrain/skybox.frag.glsl") self.skybox.set_shader(skybox_shader) # Terrain self.setup_terrain() def add_wheel(self, pos, front, np): wheel = self.vehicle.create_wheel() wheel.set_node(np.node()) wheel.set_chassis_connection_point_cs(pos) wheel.set_front_wheel(front) wheel.set_wheel_direction_cs(LVector3(0, 0, -1)) wheel.set_wheel_axle_cs(LVector3(1, 0, 0)) wheel.set_wheel_radius(0.25) wheel.set_max_suspension_travel_cm(40.0) wheel.set_suspension_stiffness(40.0) wheel.set_wheels_damping_relaxation(2.3) wheel.set_wheels_damping_compression(4.4) wheel.set_friction_slip(100.0) wheel.set_roll_influence(0.1) def attach_camera_floater(self): """ Set up an auxiliary camera floater, which is parented to the vehicle. Every frame base.cam's position will be set to the camera floater's. """ camera_behind = 8 camera_above = 3 self.camera_floater = NodePath("camera_floater") self.camera_floater.reparent_to(self.vehicleNP) self.camera_floater.set_y(-camera_behind) self.camera_floater.set_z(camera_above) def reset_vehicle(self): reset_pos = self.vehicleNP.get_pos() reset_pos.z += 3 self.vehicleNP.node().clear_forces() self.vehicleNP.node().set_linear_velocity(LVector3(0)) self.vehicleNP.node().set_angular_velocity(LVector3(0)) self.vehicleNP.set_pos(reset_pos) self.vehicleNP.set_hpr(LVector3(0)) def drop_boxes(self): """ Puts a stack of boxes at a distance in front of the vehicle. The boxes will not necessarily spawn above the terrain and will not be cleaned up. """ model = loader.load_model('models/box.egg') model.set_pos(-0.5, -0.5, -0.5) model.flatten_light() shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5)) ahead = self.vehicleNP.get_pos() + self.vehicle.get_forward_vector()*15 for i in range(6): node = BulletRigidBodyNode('Box') node.set_mass(5.0) node.add_shape(shape) node.set_deactivation_enabled(False) np = render.attach_new_node(node) np.set_pos(ahead.x, ahead.y, ahead.z + i*2) self.world.attach(node) model.copy_to(np) def query_elevation(self, xy_pos=None): """ Query elevation for xy_pos if present, else for vehicle position. No xy_pos means verbose mode. """ query_pos = xy_pos or self.vehicleNP.get_pos() """ This method is accurate and may be useful for placing objects on the terrain surface. """ result = self.world.ray_test_closest( LPoint3(query_pos.x, query_pos.y, -10000), LPoint3(query_pos.x, query_pos.y, 10000)) if result.has_hit(): hit_pos = result.get_hit_pos() if not xy_pos: print("Bullet heightfield elevation at " "X {:.2f} | Y {:.2f} is {:.3f}".format( hit_pos.x, hit_pos.y, hit_pos.z)) else: hit_pos = None if not xy_pos: print("Could not query elevation at {}".format(xy_pos)) """ This method is less accurate than the one above. Under heavy ray-testing stress (ray tests are performed for all vehicle wheels, the above elevation query etc.) Bullet sometimes seems to be a little unreliable. """ texspace_pos = self.terrain.get_relative_point(render, query_pos) stm_pos = self.terrain_node.uv_to_world( LTexCoord(texspace_pos.x, texspace_pos.y)) if not xy_pos: print("ShaderTerrainMesh elevation at " "X {:.2f} | Y {:.2f} is {:.3f}".format( stm_pos.x, stm_pos.y, stm_pos.z)) return hit_pos or stm_pos def setup_terrain(self): """ Terrain info Units are meters, which is preferable when working with Bullet. """ self.terrain_scale = LVector3(512, 512, 100) self.terrain_pos = LVector3(-256, -256, -70) # sample values for a 4096 x 4096px heightmap. #self.terrain_scale = LVector3(4096, 4096, 1000) #self.terrain_pos = LVector3(-2048, -2048, -70) """ Diamond_subdivision is an alternating triangulation scheme and may produce better results. """ use_diamond_subdivision = True """ Construct the terrain Without scaling, any ShaderTerrainMesh is 1x1x1 units. """ self.terrain_node = ShaderTerrainMesh() """ Set a heightfield, the heightfield should be a 16-bit png and have a quadratic size of a power of two. """ heightfield = Texture() heightfield.read(self.heightfield_fn) heightfield.set_keep_ram_image(True) self.terrain_node.heightfield = heightfield # Display characteristic values of the heightfield texture #minpoint, maxpoint, avg = LPoint3(), LPoint3(), LPoint3() #heightfield.calc_min_max(minpoint, maxpoint) #heightfield.calc_average_point(avg, 0.5, 0.5, 0.5) #print("avg: {} min: {} max: {}".format(avg.x, minpoint.x, maxpoint.x)) """ Set the target triangle width. For a value of 10.0 for example, the ShaderTerrainMesh will attempt to make every triangle 10 pixels wide on screen. """ self.terrain_node.target_triangle_width = 10.0 if use_diamond_subdivision: """ This has to be specified before calling .generate() The default is false. """ load_prc_file_data("", "stm-use-hexagonal-layout true") self.terrain_node.generate() """ Attach the terrain to the main scene and set its scale. With no scale set, the terrain ranges from (0, 0, 0) to (1, 1, 1) """ self.terrain = self.render.attach_new_node(self.terrain_node) self.terrain.set_scale(self.terrain_scale) self.terrain.set_pos(self.terrain_pos) """ Set a vertex and a fragment shader on the terrain. The ShaderTerrainMesh only works with an applied shader. """ terrain_shader = Shader.load(Shader.SL_GLSL, "samples/shader-terrain/terrain.vert.glsl", "samples/shader-terrain/terrain.frag.glsl") self.terrain.set_shader(terrain_shader) self.terrain.set_shader_input("camera", base.camera) # Set some texture on the terrain grass_tex = self.loader.load_texture( "samples/shader-terrain/textures/grass.png") grass_tex.set_minfilter(SamplerState.FT_linear_mipmap_linear) grass_tex.set_anisotropic_degree(16) self.terrain.set_texture(grass_tex) """ Set up the DynamicHeightfield (it's a type of PfmFile). We load the same heightfield image as with ShaderTerrainMesh. """ self.DHF = DynamicHeightfield() self.DHF.read(self.heightfield_fn) """ Set up empty PfmFiles to prepare stuff in that is going to dynamically modify our terrain. """ self.StagingPFM = PfmFile() self.RotorPFM = PfmFile() """ Set up the BulletHeightfieldShape (=collision terrain) and give it some sensible physical properties. """ self.HFS = BulletHeightfieldShape(self.DHF, self.terrain_scale.z, STM=True) if use_diamond_subdivision: self.HFS.set_use_diamond_subdivision(True) HFS_rigidbody = BulletRigidBodyNode("BulletTerrain") HFS_rigidbody.set_static(True) friction = 2.0 HFS_rigidbody.set_anisotropic_friction( LVector3(friction, friction, friction/1.3)) HFS_rigidbody.set_restitution(0.3) HFS_rigidbody.add_shape(self.HFS) self.world.attach(HFS_rigidbody) HFS_NP = NodePath(HFS_rigidbody) HFS_NP.reparent_to(self.worldNP) """ This aligns the Bullet terrain with the ShaderTerrainMesh rendered terrain. It will be exact as long as the terrain vertex shader from the STM sample is used and no additional tessellation shader. For Bullet (as for other physics engines) the origin of objects is at the center. """ HFS_NP.set_pos(self.terrain_pos + self.terrain_scale/2) HFS_NP.set_sx(self.terrain_scale.x / heightfield.get_x_size()) HFS_NP.set_sy(self.terrain_scale.y / heightfield.get_y_size()) # Disables Bullet debug rendering for the terrain, because it is slow. #HFS_NP.node().set_debug_enabled(False) """ Finally, link the ShaderTerrainMesh and the BulletHeightfieldShape to the DynamicHeightfield. From now on changes to the DynamicHeightfield will propagate to the (visible) ShaderTerrainMesh and the (collidable) BulletHeightfieldShape. """ self.HFS.set_dynamic_heightfield(self.DHF) self.terrain_node.set_dynamic_heightfield(self.DHF) def deform_terrain(self, mode="raise", duration=1.0): self.deform_duration = duration """ Calculate distance to the spot at which we want to raise the terrain. At its current speed the vehicle would reach it in 2.5 seconds. [km/h] / 3.6 = [m/s] * [s] = [m] """ distance = self.vehicle.get_current_speed_km_hour() / 3.6 * 2.5 spot_pos_world = (self.vehicleNP.get_pos() + self.vehicle.get_forward_vector() * distance) spot_pos_heightfield = self.terrain_node.world_to_heightfield( spot_pos_world) xcenter = spot_pos_heightfield.x ycenter = spot_pos_heightfield.y """ To create a smooth hill/depression we call PfmFile.pull_spot to create a sort of gradient. You can use self.cardmaker_debug to view it. From the Panda3D API documentation of PfmFile.pull_spot: Applies delta * t to the point values within radius (xr, yr) distance of (xc, yc). The t value is scaled from 1.0 at the center to 0.0 at radius (xr, yr), and this scale follows the specified exponent. Returns the number of points affected. """ # Delta to apply to the point values in DynamicHeightfield array. delta = LVector4(0.001) # Make the raised spot elliptical. xradius = 10.0 # meters yradius = 6.0 # meters # Choose an exponent exponent = 0.6 # Counter-clockwise angle between Y-axis angle = self.vehicle.get_forward_vector().signed_angle_deg( LVector3.forward(), LVector3.down()) # Define all we need to repeatedly deform the terrain using a task. self.spot_params = [delta, xcenter, ycenter, xradius, yradius, exponent, mode] # Clear staging area to a size that fits our raised region. self.StagingPFM.clear(int(xradius)*2, int(yradius)*2, num_channels=1) """ There are two options: (1) Rotate our hill/depression to be perpendicular to the vehicle's trajectory. This is the default. (2) Just put it in the terrain unrotated. """ # Option (1) self.StagingPFM.pull_spot(delta, xradius-0.5, yradius-0.5, xradius, yradius, exponent) # Rotate wider side so it's perpendicular to vehicle's trajectory. self.RotorPFM.rotate_from(self.StagingPFM, angle) self.raise_start_time = globalClock.get_real_time() taskMgr.do_method_later(0.03, self.deform_perpendicular, "DeformPerpendicularSpot") # Option (2) #taskMgr.do_method_later(0.03, self.deform_regular, "RaiseASpot") def deform_perpendicular(self, task): if (globalClock.get_real_time() - self.raise_start_time < self.deform_duration): (delta, xcenter, ycenter, xradius, yradius, exponent, mode) = self.spot_params """ Copy rotated hill to our DynamicHeightfield. The values from RotorPFM are added to the ones found in the DynamicHeightfield. """ self.DHF.add_sub_image(self.RotorPFM, int(xcenter - self.RotorPFM.get_x_size()/2), int(ycenter - self.RotorPFM.get_y_size()/2), 0, 0, self.RotorPFM.get_x_size(), self.RotorPFM.get_y_size(), 1.0 if mode == "raise" else -1.0) # Output images of our PfmFiles. #self.RotorPFM.write("dbg_RotorPFM.png") #self.StagingPFM.write("dbg_StagingPFM.png") return task.again self.cardmaker_debug() return task.done def deform_regular(self, task): if (globalClock.get_real_time() - self.raise_start_time < self.deform_duration): (delta, xcenter, ycenter, xradius, yradius, exponent, mode) = self.spot_params self.DHF.pull_spot(delta * (1.0 if mode == "raise" else -1.0), xcenter, ycenter, xradius, yradius, exponent) return task.again return task.done def convert_coordinates(self): vpos = self.vehicleNP.get_pos() print("VPOS world: ", vpos) W2H = self.terrain_node.world_to_heightfield(vpos) print("W2H: ", W2H) H2W = self.terrain_node.heightfield_to_world(LTexCoord(W2H.x, W2H.y)) print("H2W: ", H2W) W2U = self.terrain_node.world_to_uv(vpos) print("W2U: ", W2U) U2W = self.terrain_node.uv_to_world(LTexCoord(W2U.x, W2U.y)) print("U2W: ", U2W) def hide_terrain(self): if self.terrain.is_hidden(): self.terrain.show() else: self.terrain.hide() def save(self): self.DHF.write("dbg_dynamicheightfield.png") def pfmvizzer_debug(self, pfm): vizzer = PfmVizzer(pfm) """ To align the mesh we generate with PfmVizzer with our ShaderTerrainMesh, BulletHeightfieldShape, and DynamicHeightfield, we need to set a negative scale on the Y axis. This reverses the winding order of the triangles in the mesh, which is why we choose PfmVizzer.MF_back Note that this does not accurately match up with our mesh because the interpolation differs. Still, PfmVizzer can be useful when inspecting, distorting, etc. PfmFiles. """ self.vizNP = vizzer.generate_vis_mesh(PfmVizzer.MF_back) self.vizNP.set_texture(loader.load_texture("maps/grid.rgb")) self.vizNP.reparent_to(render) if pfm == self.DHF or pfm == self.terrain_node.heightfield: self.vizNP.set_pos(self.terrain_pos.x, -self.terrain_pos.y, self.terrain_pos.z) self.vizNP.set_scale(self.terrain_scale.x, -self.terrain_scale.y, self.terrain_scale.z) def cardmaker_debug(self): for node in render2d.find_all_matches("pfm"): node.remove_node() for text in base.a2dBottomLeft.find_all_matches("*"): text.remove_node() width = 0.2 # render2d coordinates range: [-1..1] # Pseudo-normalize our PfmFile for better contrast. normalized_pfm = PfmFile(self.RotorPFM) max_p = LVector3() normalized_pfm.calc_min_max(LVector3(), max_p) normalized_pfm *= 1.0 / max_p.x # Put it in a texture tex = Texture() tex.load(normalized_pfm) # Apply the texture to a quad and put it in the lower left corner. cm = CardMaker("pfm") cm.set_frame(0, width, 0, width / normalized_pfm.get_x_size() * normalized_pfm.get_y_size()) card = base.render2d.attach_new_node(cm.generate()) card.set_pos(-1, 0, -1) card.set_texture(tex) # Display max value text self.genLabelText(-3, "Max value: {:.3f} == {:.2f}m".format(max_p.x, max_p.x * self.terrain_scale.z), parent="a2dBottomLeft")
class CarPhys(PhysColleague): def __init__(self, mediator, car_props, tuning, players): PhysColleague.__init__(self, mediator) self.pnode = self.vehicle = self.__track_phys = self.coll_mesh = \ self.max_speed = self.friction_slip = \ self.friction_slip_rear = self.cfg = None self.turbo = False self._tuning = tuning self._players = players self.roll_influence = [] self.ai_meshes = [] self.curr_speed_mul = 1.0 self.roll_influence_k = self.friction_slip_k = 1.0 self.__prev_speed = 0 self.__last_drift_time = 0 self.__finds = {} # cache for find's results self.__whl2flytime = {} self.cprops = car_props self._load_phys() self.__set_collision_mesh() self.__set_ai_meshes() self.__set_phys_node() self.__set_vehicle() self.__set_wheels() self.eng.attach_obs(self.on_end_frame) def _load_phys(self): ppath = self.cprops.race_props.season_props.gameprops.phys_path fpath = ppath % self.cprops.name with open(fpath) as phys_file: self.cfg = load(phys_file) # they may be changed by drivers and tuning self.cfg['max_speed'] = self.get_speed() self.cfg['friction_slip'] = self.get_friction_static()[0] self.cfg['friction_slip_rear'] = self.get_friction_static()[1] self.cfg['roll_influence'] = self.get_roll_influence_static() self.friction_slip = self.cfg['friction_slip'] self.friction_slip_rear = self.cfg['friction_slip_rear'] self.__log_props() set_a = lambda field: setattr(self, field, self.cfg[field]) list(map(set_a, self.cfg.keys())) def __log_props(self, starting=True): s_s = self.cfg['max_speed'] if starting else self.max_speed s_f = self.cfg['friction_slip'] if starting else \ self.get_friction_static()[0] s_fr = self.cfg['friction_slip_rear'] if starting else \ self.get_friction_static()[1] s_r = self.cfg['roll_influence'] if starting else \ self.get_roll_influence_static() log_info = [('speed', self.cprops.name, round(s_s, 2), self.cprops.driver_engine), ('friction 0', self.cprops.name, round(s_f[0], 2), self.cprops.driver_tires), ('friction 1', self.cprops.name, round(s_f[1], 2), self.cprops.driver_tires), ('friction_rear 0', self.cprops.name, round(s_fr[0], 2), self.cprops.driver_tires), ('friction_rear 1', self.cprops.name, round(s_fr[1], 2), self.cprops.driver_tires), ('roll min', self.cprops.name, round(s_r[0], 2), self.cprops.driver_suspensions), ('roll max', self.cprops.name, round(s_r[1], 2), self.cprops.driver_suspensions)] for l_i in log_info: info('%s %s: %s (%s)' % l_i) def __set_collision_mesh(self): fpath = self.cprops.race_props.coll_path % self.cprops.name try: self.coll_mesh = self.eng.load_model(fpath) except OSError: # new cars don't have collision meshes self.coll_mesh = self.eng.load_model( fpath.replace('capsule', 'car')) # chassis_shape = BulletConvexHullShape() # for geom in self.eng.lib.find_geoms( # self.coll_mesh, self.cprops.race_props.coll_name): # chassis_shape.add_geom(geom.node().get_geom(0), # geom.get_transform()) # self.mediator.gfx.nodepath.get_node().add_shape(chassis_shape) chassis_shape = BulletBoxShape(tuple(self.cfg['box_size'])) boxpos = self.cfg['box_pos'] boxpos[2] += self.cfg['center_mass_offset'] pos = TransformState.makePos(tuple(boxpos)) self.mediator.gfx.nodepath.p3dnode.add_shape(chassis_shape, pos) car_names = [player.car for player in self._players] car_idx = car_names.index(self.cprops.name) car_bit = BitMask32.bit(BitMasks.car(car_idx)) ghost_bit = BitMask32.bit(BitMasks.ghost) track_bit = BitMask32.bit(BitMasks.track_merged) mask = car_bit | ghost_bit | track_bit self.mediator.gfx.nodepath.set_collide_mask(mask) def __set_ai_meshes(self): return # if we attach these meshes (or even only one mesh, box, sphere, # whatever) then the collision between the goal and the vehicle doesn't # work properly h = .5 boxsz = self.cfg['box_size'] hs = [] hs += [ h / 2 + boxsz[2] * 2 + self.cfg['box_pos'][2] + self.cfg['center_mass_offset'] ] hs += [ -h / 2 - boxsz[2] * 2 + self.cfg['box_pos'][2] + self.cfg['center_mass_offset'] ] for _h in hs: shape = BulletBoxShape((boxsz[0], boxsz[1], h)) ghost = GhostNode('Vehicle') pos = TransformState.makePos((0, 0, _h)) ghost.node.addShape(shape, pos) self.ai_meshes += [self.eng.attach_node(ghost.node)] car_names = self.cprops.race_props.season_props.car_names car_idx = car_names.index(self.cprops.name) car_bit = BitMask32.bit(BitMasks.car(car_idx)) ghost_bit = BitMask32.bit(BitMasks.ghost) mask = car_bit | ghost_bit self.ai_meshes[-1].set_collide_mask(mask) self.eng.phys_mgr.attach_ghost(ghost.node) def __set_phys_node(self): self.pnode = self.mediator.gfx.nodepath.p3dnode self.pnode.set_mass(self.mass) # default 0 self.pnode.set_deactivation_enabled(False) self.eng.phys_mgr.attach_rigid_body(self.pnode) self.eng.phys_mgr.add_collision_obj(self.pnode) def __set_vehicle(self): self.vehicle = BulletVehicle(self.eng.phys_mgr.root._wld, self.pnode) # access to a protected member self.vehicle.set_coordinate_system(ZUp) self.vehicle.set_pitch_control(self.pitch_control) tuning = self.vehicle.get_tuning() tuning.set_suspension_compression(self.suspension_compression) # default .83 tuning.set_suspension_damping(self.suspension_damping) # default .88 self.eng.phys_mgr.attach_vehicle(self.vehicle) def __set_wheels(self): wheels = self.mediator.gfx.wheels f_bounds = wheels['fr'].tight_bounds f_radius = (f_bounds[1][2] - f_bounds[0][2]) / 2.0 + .01 r_bounds = wheels['rr'].tight_bounds r_radius = (r_bounds[1][2] - r_bounds[0][2]) / 2.0 + .01 wheel_names = self.cprops.race_props.wheel_names ffr = self.coll_mesh.find('**/' + wheel_names.frontrear.fr) ffl = self.coll_mesh.find('**/' + wheel_names.frontrear.fl) rrr = self.coll_mesh.find('**/' + wheel_names.frontrear.rr) rrl = self.coll_mesh.find('**/' + wheel_names.frontrear.rl) meth = self.coll_mesh.find fr_node = ffr if ffr else meth('**/' + wheel_names.both.fr) fl_node = ffl if ffl else meth('**/' + wheel_names.both.fl) rr_node = rrr if rrr else meth('**/' + wheel_names.both.rr) rl_node = rrl if rrl else meth('**/' + wheel_names.both.rl) if not fr_node: # new cars fr_node = meth('**/w_fr') fl_node = meth('**/w_fl') rr_node = meth('**/w_rr') rl_node = meth('**/w_rl') offset = self.cfg['center_mass_offset'] fr_pos = fr_node.get_pos() + (0, 0, f_radius + offset) fl_pos = fl_node.get_pos() + (0, 0, f_radius + offset) rr_pos = rr_node.get_pos() + (0, 0, r_radius + offset) rl_pos = rl_node.get_pos() + (0, 0, r_radius + offset) wheels_info = [(fr_pos, True, wheels['fr'], f_radius), (fl_pos, True, wheels['fl'], f_radius), (rr_pos, False, wheels['rr'], r_radius), (rl_pos, False, wheels['rl'], r_radius)] for i, (pos, front, nodepath, radius) in enumerate(wheels_info): self.__add_wheel(pos, front, nodepath.p3dnode, radius, i) def __add_wheel(self, pos, is_front, node, radius, i): whl = self.vehicle.create_wheel() whl.set_node(node) whl.set_chassis_connection_point_cs(LPoint3f(*pos)) whl.set_front_wheel(is_front) whl.set_wheel_direction_cs((0, 0, -1)) whl.set_wheel_axle_cs((1, 0, 0)) whl.set_wheel_radius(radius) whl.set_suspension_stiffness(self.suspension_stiffness[0]) # default 5.88 whl.set_wheels_damping_relaxation(self.wheels_damping_relaxation[0]) # default .88 whl.set_wheels_damping_compression(self.wheels_damping_compression[0]) # default .83 idx = 0 if is_front else 1 whl.set_friction_slip(self.get_friction_static()[idx][0]) # default 10.5 # friction slip high -> more adherence whl.set_roll_influence(self.roll_influence[0]) # low -> more stability # default .1 whl.set_max_suspension_force(self.max_suspension_force) # default 6000 whl.set_max_suspension_travel_cm(self.max_suspension_travel_cm) # default 500 whl.set_skid_info(self.skid_info) # default 0 self.__whl2flytime[i] = 0 @property def lateral_force(self): vel = self.vehicle.get_chassis().get_linear_velocity() rot_mat = Mat4() rot_mat.setRotateMat(-90, (0, 0, 1)) car_lat = rot_mat.xformVec(self.mediator.logic.car_vec._vec) # access to a protected member proj_frc = vel.project(car_lat) return proj_frc.length() @property def lin_vel(self): return self.vehicle.get_chassis().get_linear_velocity().length() * 3.6 @property def is_flying(self): # no need to be cached rays = [whl.get_raycast_info() for whl in self.vehicle.get_wheels()] return not any(ray.is_in_contact() for ray in rays) @property def is_drifting(self): return self.lateral_force > 4.0 @property def last_drift_time(self): return self.__last_drift_time @property def prev_speed(self): return self.__prev_speed @property def prev_speed_ratio(self): return max(0, min(1.0, self.prev_speed / self.max_speed)) def on_end_frame(self): self.__prev_speed = self.speed @property def speed(self): if self.mediator.fsm.getCurrentOrNextState() == 'Countdown': return 0 # getCurrentSpeedKmHour returns odd values otherwise return self.vehicle.get_current_speed_km_hour() @property def speed_ratio(self): return max(0, min(1.0, self.speed / self.max_speed)) @property def lin_vel_ratio(self): return max(0, min(1.0, self.lin_vel / self.max_speed)) def set_forces(self, eng_frc, brake_frc, brk_ratio, steering): idx = 1 if self.mediator.logic.is_drifting else 0 eng_frc_ratio = self.engine_acc_frc_ratio[idx] self.vehicle.set_steering_value(steering, 0) self.vehicle.set_steering_value(steering, 1) self.vehicle.apply_engine_force(eng_frc * eng_frc_ratio, 0) self.vehicle.apply_engine_force(eng_frc * eng_frc_ratio, 1) self.vehicle.apply_engine_force(eng_frc * (1 - eng_frc_ratio), 2) self.vehicle.apply_engine_force(eng_frc * (1 - eng_frc_ratio), 3) self.vehicle.set_brake((1 - brk_ratio) * brake_frc, 2) self.vehicle.set_brake((1 - brk_ratio) * brake_frc, 3) self.vehicle.set_brake(brk_ratio * brake_frc, 0) self.vehicle.set_brake(brk_ratio * brake_frc, 1) def update_car_props(self): wheels = zip(self.vehicle.get_wheels(), range(4)) speeds = list(map(lambda whi: self.__update_whl_props(*whi), wheels)) speeds = [speed for speed in speeds if speed] if self.is_drifting: self.__last_drift_time = self.eng.curr_time self.curr_speed_mul = (sum(speeds) / len(speeds)) if speeds else 1.0 def __update_whl_props(self, whl, i): susp_min = self.suspension_stiffness[0] susp_max = self.suspension_stiffness[1] susp_diff = susp_max - susp_min whl.set_suspension_stiffness(susp_min + self.speed_ratio * susp_diff) relax_min = self.wheels_damping_relaxation[0] relax_max = self.wheels_damping_relaxation[1] relax_diff = relax_max - relax_min relax = relax_min + self.speed_ratio * relax_diff whl.set_wheels_damping_relaxation(relax) compr_min = self.wheels_damping_compression[0] compr_max = self.wheels_damping_compression[1] compr_diff = compr_max - compr_min compr = compr_min + self.speed_ratio * compr_diff whl.set_wheels_damping_compression(compr) roll_infl_min = self.roll_influence[0] roll_infl_max = self.roll_influence[1] roll_infl_diff = roll_infl_max - roll_infl_min roll_infl = roll_infl_min + self.speed_ratio * roll_infl_diff whl.set_roll_influence(self.roll_influence_k * roll_infl) contact_pt = whl.get_raycast_info().getContactPointWs() gnd_name = self.gnd_name(contact_pt) if not gnd_name or gnd_name in ['Vehicle', 'Wall', 'Respawn']: return if gnd_name not in self.__finds: gnd = self.cprops.race.track.phys.model.find('**/' + gnd_name) self.__finds[gnd_name] = gnd gfx_node = self.__finds[gnd_name] if not gfx_node: print('ground error', gnd_name) return fric = 1.0 if gfx_node.has_tag('friction'): fric = float(gfx_node.get_tag('friction')) if not whl.get_raycast_info().is_in_contact(): self.__whl2flytime[i] = self.eng.curr_time gnd_time = self.eng.curr_time - self.__whl2flytime[i] gnd_recovery_time = .2 if whl.is_front_wheel() else .1 gnd_factor = min(1, gnd_time / gnd_recovery_time) idx = 0 if whl.is_front_wheel() else 1 turbo_factor = 1.24 if self.turbo else 1.0 whl.setFrictionSlip(self.get_friction()[idx] * fric * gnd_factor * turbo_factor) if gfx_node.has_tag('speed'): return float(gfx_node.get_tag('speed')) @property def gnd_names(self): # no need to be cached whls = self.vehicle.get_wheels() pos = list( map(lambda whl: whl.get_raycast_info().get_contact_point_ws(), whls)) return list(map(self.gnd_name, pos)) @staticmethod def gnd_name(pos): top, bottom = pos + (0, 0, 20), pos + (0, 0, -20) result = CarPhys.eng.phys_mgr.ray_test_closest(bottom, top) ground = result.get_node() return ground.get_name() if ground else '' @staticmethod def gnd_height(pos): # this should be a method of the track top, bottom = pos + (0, 0, 20), pos + (0, 0, -20) result = CarPhys.eng.phys_mgr.ray_test_closest(bottom, top) hit_pos = result.get_hit_pos() return hit_pos.z if hit_pos else None def apply_damage(self, reset=False): # wheels = self.vehicle.get_wheels() if reset: self.max_speed = self.get_speed() self.friction_slip_k = 1.0 self.roll_influence_k = 1.0 else: self.max_speed *= .95 self.friction_slip_k *= .95 self.roll_influence_k *= 1.05 # map(lambda whl: whl.set_friction_slip(self.friction_slip), wheels) self.__log_props(False) def get_speed(self): return self.cfg['max_speed'] * (1 + .01 * self.cprops.driver_engine) def get_friction(self): k = (1 + .01 * self.cprops.driver_tires) return self.friction_slip[0] * k, self.friction_slip_rear[0] * k def get_roll_influence_static(self): min_r = self.cfg['roll_influence'][0] max_r = self.cfg['roll_influence'][1] k = 1 + .01 * self.cprops.driver_suspensions return [min_r * k, max_r * k] def get_friction_static(self): k = 1 + .01 * self.cprops.driver_tires fstr = 'friction_slip' return [(self.cfg[fstr][0] * k, self.cfg[fstr][1] * k), (self.cfg[fstr + '_rear'][0] * k, self.cfg[fstr + '_rear'][1] * k)] def get_roll_influence(self): min_r = self.cfg['roll_influence'][0] max_r = self.cfg['roll_influence'][1] diff_r = max_r - min_r curr_r = min_r + self.speed_ratio * diff_r return curr_r * (1 + .01 * self.cprops.driver_suspensions) def rotate(self): self.pnode.apply_torque((0, 0, 80000)) self.mediator.logic.applied_torque = True def destroy(self): self.eng.detach_obs(self.on_end_frame) self.eng.phys_mgr.remove_vehicle(self.vehicle) self.pnode = self.vehicle = self.__finds = self.__track_phys = \ self.coll_mesh = None PhysColleague.destroy(self)